GB2554427B - Method and device for detecting a trailer - Google Patents
Method and device for detecting a trailer Download PDFInfo
- Publication number
- GB2554427B GB2554427B GB1616361.0A GB201616361A GB2554427B GB 2554427 B GB2554427 B GB 2554427B GB 201616361 A GB201616361 A GB 201616361A GB 2554427 B GB2554427 B GB 2554427B
- Authority
- GB
- United Kingdom
- Prior art keywords
- trailer
- image
- vehicle
- region
- user input
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 21
- 238000004590 computer program Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 description 16
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000004913 activation Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/58—Auxiliary devices
- B60D1/62—Auxiliary devices involving supply lines, electric circuits, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/36—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating connection, e.g. hitch catchers, visual guide means, signalling aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/01—Traction couplings or hitches characterised by their type
- B60D1/06—Ball-and-socket hitches, e.g. constructional details, auxiliary devices, their arrangement on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/002—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like
- B60R1/003—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like for viewing trailer hitches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/808—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for facilitating docking to a trailer
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20092—Interactive image processing based on input by user
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Image Analysis (AREA)
- Traffic Control Systems (AREA)
Description
METHOD AND DEVICE FOR DETECTING A TRAILER
The present invention relates to a method for a driver assistant system of a vehicle for detecting a trailer.
The prior art already discloses different camera-based driver assistant systems, also called advanced driver assistance systems, offering different trailer assistant functions, in particular comprising a camera-based detection of the trailer and its dimensions and/or a camera-based detection of the angle between the trailer and the vehicle. Based on this, functions like assisted or automated trailer backing and assisted or automated trailer hitching can be offered. US 2015/321697 Al discloses a trailer assistance system comprising a trailer angle detection with a rearward facing camera disposed at a rearward portion of a vehicle equipped with the trailer assist system. The rearward facing camera is operable to capture image data representative of the scene rearward of the equipped vehicle. When a trailer is near and/or attached to the equipped vehicle and is rearward of the equipped vehicle, a processor is operable to process the captured image data and, responsive at least in part to such processing, is operable to determine an angle of the trailer relative to a longitudinal axis of the equipped vehicle. Based on this, a display for the driver of the vehicle may be provided indicative of a determined rearward trajectory of the trailer to assist the driver in reversing the vehicle. Also a degree of swing or sway of the trailer can be determined while the vehicle is pulling the trailer in a forward direction, wherein an alert signal is given to alert the driver once the swing or sway is greater than a threshold level. US 2014/160276 Al discloses a vehicular vision system comprising a camera which is disposed at a vehicle and having a rearward field of view. The vision system, responsive at least in part to image processing of image data captured by the camera, is operable to determine a trailer angle of a trailer that is towed by the vehicle, to determine a path of the trailer responsive to a steering angle of the vehicle and to display information for viewing by the driver to assist the driver in driving the vehicle with the trailer. The displayed information can be a road in the direction of travel of the vehicle with an overlaying steering path, e.g. to indicate to the driver of the vehicle a steering path for the vehicle to drive the trailer into a desired location. WO 2014/174028 Al discloses a system for monitoring available space to maneuver a vehicle to align a tow hitch mounted to the vehicle with a trailer coupling mounted to a trailer. The system comprises an imaging system disposed on the vehicle to generate image data and a processor configured to analyze said image data to determine if there is sufficient space available to maneuver the vehicle to align the tow hitch with the trailer coupling. The processor is further configured to generate a steering guidance signal for steering the vehicle to align the tow hitch with the trailer coupling.
The common concept among the known camera-based trailer assistance systems is the detection of the trailer, which is either already coupled to the vehicle or which is to be hitched to the vehicle, by means of image processing of images captured by a vehicle-mounted camera having a rearward field of view.
Thus, image processing algorithms for the detection of a trailer are well known, in particular from the above mentioned prior art. Examples of suitable algorithms are edge detection, pattern recognition, pattern matching or the detection of targets or markers especially disposed for this purpose on the trailer, e.g. at specified positions.
However, a fundamental problem of the known systems is the computational complexity of the image processing algorithms for processing the captured images and for detecting the trailer and the relevant parameters, like the dimensions of the trailer and/or the angle between the trailer and the vehicle. This comprises but is not limited to the accurate detection and estimation of the depth of the trailer, in particular from the real world images of a monocular camera.
It is, therefore, an object of the present invention to provide an improved method and device for detecting a trailer by means of camera.
This object is solved by the subject matter of the independent claims. Further improvements are the subject matter of the dependent claims.
According to a first aspect of the present invention a method for detecting a trailer is provided, in particular for being implemented in a driver assistant system of a vehicle, and in particular for an assistance system providing one or multiple trailer assistance functions. The method comprises the steps: capturing at least one image with at least one camera which is mounted to the vehicle and which has a rearward field of view; displaying the at least one image to a user on a touch-screen; recognizing a user input via the touch-screen and detecting at least a portion of the trailer by means of image processing of the at least one image, wherein the image processing of the image is based on the user input.
According to the present invention, a region of interest is determined in the at least one image based on the user input and the trailer is detected by means of image processing of the at least one image based on the determined region of interest. Thus, the image processing effort for the detection of the trailer is reduced to a defined image region.
According to the present invention, the user input comprises selecting a region in the images via the touch-screen and the region of interest is determined based on the selected region. The region of interest may be for example a region in the image corresponding to the region being selected by the user in the image. Alternatively or in addition, the region of interest may have a certain offset to the region which has been selected by the user in the image.
According to another preferred embodiment of the present invention, the user input comprises selecting a point in the images via the touch-screen and the region of interest is determined based on the selected point.
According to another preferred embodiment of the present invention, the user input is requested by means of an appropriate notification.
According to another preferred embodiment of the present invention, the user input is requested if a trailer function of the driver assistant system is activated.
According to another preferred embodiment of the present invention, the user input is requested if a trailer function of the driver assistant system is activated and if no trailer or if multiple trailers are detected by means of image processing, wherein the image processing is not based on a previous user input. A significant advantage of the present invention, in particular according to the aspects and embodiments disclosed in the foregoing embodiments, is that the computational complexity of the camera-based detection of a trailer can substantially be reduced by the consideration, or respectively by the support, of the user input. It is particularly possible to determine prior to the image processing for detection the trailer a region of interest in the camera images and to process only the determined region of interest with the respective image processing algorithm for the detection of the trailer and, for instance, for computing the height and width of the trailer and/or the tow bar length and/or the angle between the trailer and the vehicle. As many cars are already equipped with touch-based user interfaces in the dashboard, the present invention may be implemented in many cars without additional hardware.
More particular, the present invention can be applied for the detection of trailers of any shape and may avoid using computationally complex algorithms for selecting a region of interest and for determining the trailer boundary in the camera images .
The present invention may also support the respective driver assistance system in selecting the right trailer, i.e. the trailer which is to be hitched to the vehicle, in case if there are many trailers in the respective detection area, i.e. in a parking space, and thus present in the camera images.
Preferably, by using the present invention, it is no longer necessary to use any synthetic features on the trailer, like targets or makers, in particular for detecting the trailer and/or for estimation the dimensions and yaw angle of the trailer .
The present invention is also advantageous in conditions with bad visibility, e.g. bad light or bad weather conditions.
According to the preferred embodiments, the present invention offers the driver the opportunity to use the rear view camera information to draw pattern around the trailer on the touchscreen and the pattern is processed to find the pattern height and width. The pattern can be fine tuned using image processing algorithms to find the exact dimensions of the trailer. This information can be used to calculate the yaw angle and the depth at which the trailer is hitched or to be hitched to the vehicle (tow support/tow assist). This may assist the driver to hitch the vehicle to the trailer without any artificial feature.
According to a second aspect of the present invention a computer program product is provided. The computer program product comprises a computer readable storage medium having computer executable code stored thereon which, when executed by a processor, executes the method according to the first aspect of the present invention and its preferred embodiments.
According to a third aspect of the present invention a device for a vehicle is provided, in particular a driver assistant system. The device is configured for detecting a trailer and comprises at least one camera to be mounted to the vehicle with a rearward field of view, an electronic control unit to be mounted to the vehicle and to be connected with the at least one camera and with a touch-screen, wherein the electronic control unit comprises a processor and a computer program product according to the second aspect of the invention.
According to a fourth aspect of the present invention a vehicle is provided which comprises a device according to the third aspect of the invention.
The present invention will be described in the following by a preferred embodiment based on the accompanying drawings.
In the following description, details are provided to describe an embodiment of the present specification. It shall be apparent to one skilled in the art, however, that other embodiments of the invention may be practiced without such details.
Fig. 1 shows a flowchart of a method for detecting a trailer according to an embodiment;
Fig. 2 shows an exemplary displayed image according to an embodiment.
Fig. 1 shows a flow-chart of a preferred embodiment of the method according to first aspect of the present invention, which may be implemented as a computer program product according the second aspect of the invention within a device according to the third aspect of the invention, in particular in terms of computer executable code stored on a computer program product, which, when executed by a processor, executes the method according to Fig. 1.
The embodiment according to Fig. 1 comprises multiple process steps S1-S5.
The method according to the present invention can be used, for instance, as a part of a driver assistant system of a vehicle, in particular for a driver assistant system providing the driver of the vehicle one or multiple assistance functions in conjunction with a trailer. Such functions may be functions which are already known from the prior art, e.g. functions as described in the introductory part of the description. The method may further be implemented as a program within a driver assistant system and may, for instance, be started upon request, e.g. upon manual activation of a trailer function by a user, and/or upon automatic activation, e.g. upon detection that a trailer is coupled to the vehicle and/or that a reverse gear of the vehicle is set.
In step SI of the embodiment, shown in Fig. 1, at least one image is captured with at least one camera which is mounted to the vehicle and which has a rearward field of view. Such camera may be a rear camera mounted exterior or interior to a rear portion of the vehicle. In a particular embodiment the image may also be a composite image which provides a view of the rearward scene of the vehicle and which may be assembled by image processing means from the images of multiple cameras. Such multiple cameras may be, for instance, cameras of a so-called surround view camera system. According to Fig. 1, the at least one image is a live video stream of the rearward scene of the vehicle surroundings, i.e. consecutive image frames captured by one or multiple cameras having at least partially a rearward field of view.
In step 2 of the embodiment, shown in Fig. 1, the at least one image is displayed to a user on a touch-screen. The user to whom the at least one image is displayed may be the vehicle driver or respectively the vehicle owner. According to Fig. 1, the displayed image is a live video stream at least of the rearward scene of the vehicle. The touch-screen may be a touch-screen which is arranged in the interior of the vehicle, e.g. integrated into the dashboard. Alternatively or in addition, the touch-screen may be a touch-screen of a mobile and/or handheld device, e.g. a mobile phone, a tablet or the like. Accordingly, the image may be displayed to the user either inside the vehicle, in particular for assisting the user in maneuvering the vehicle with a trailer or in coupling the vehicle with a trailer while the user is inside the vehicle, or the image may be displayed to the user on a mobile device, in particular for remote controlled trailer function, e.g. remote controlled maneuvering of the vehicle with a trailer or remote controlled coupling of the vehicle with a trailer.
In step 3 of the embodiment, shown in Fig. 1, a user input via the touch-screen is recognized. According to a preferred embodiment, such user input may be a selection of a region within the displayed image by the user via the touch-screen. More specifically, such a selection of a region may be a drawing of an outline around the trailer by the user, i.e. a drawing of a pattern on the touch-screen around an image portion where the trailer is present. This is exemplarily illustrated in Fig. 2.
Fig. 2 shows an image 1 of a rearward scene of a vehicle, wherein a trailer 2 is coupled to the vehicle. In Particular, the image which is shown in Fig. 2 may be an image 1 which is displayed to the user on the touch-screen according to step 2. Fig. 2 further illustrates a pattern 3 around the outer contour of the trailer, which may be drawn by the user on the touch-screen. The pattern 3 may, for instance also comprise a line along the trailer axis 4 or an outline around the trailer axis 4 .
According to another preferred embodiment, the input 3 may also be a selection of a point within the displayed image 1 by the user via the touch-screen. More specifically, such a selection of a point may be a marking or indication of a point in the displayed image 1 by the user where the trailer 2 is present, i.e. indicating a location or point in the image 1 on the touch-screen where a portion of the trailer 2 is present.
According to a preferred embodiment of the invention, the user input 3 may be requested by means of an appropriate notification, e.g. by a visible notification on the touch-screen and/or an audible notification, in particular as a further step before the recognition of the user input 3. Such re-quest/notification may be given, for instance, each time when the method is performed or upon start or activation, manually or automatically, of a trailer function. Alternatively or in addition the request/notification may only be given under spe- cific circumstances or certain conditions. Such circumstances or conditions may arise, for instance, if it is detected that a trailer 2 is coupled to the vehicle, if a trailer function is activated, manually or automatically, but no trailer 2 is or can be detected in the image 1 and/or if a trailer function is activated, manually or automatically, but multiple trailers are detected in the image 1.
In step 4 of the embodiment, shown in Fig. 1, the trailer or at least a portion of the trailer is detected by means of image processing in the live video stream based on the user input. The detected trailer portion can be, for instance, the outer contour of the trailer and/or the coupling of the trailer. Image processing methods for driver assistant systems for detecting a trailer or for detecting portions of a trailer are well known, for instance, from the prior art mentioned in the introductory part of the description. The present invention improves such trailer detection by image processing, in particular in certain circumstances like bad visual conditions.
According to a preferred embodiment of the invention a region of interest 5 is determined in the at least one image 1 based on the user input 3 and the trailer 2 is detected by means of image processing of the at least one image 1 based on the determined region of interest 5.
More specifically, if the user input 3 comprises the selection of a region 3 in the at least one image 1 by the user via the touch-screen, then the region of interest 5 is preferably determined based on the selected region 3. For instance, the image may be processed only within the selected region 3, in particular by means of image processing algorithms for trailer detection. Alternatively, a certain tolerance range 6 or deviation may be applied to the selected region 3 and the image 1 may be processed only within the image area 5 thus obtained. Alternatively or in addition the selected region 3 may be adjusted to a certain shape, e.g. a rectangle or square, and the image may be processed only within the adjusted image area.
If the user input 3 comprises the selection of a point in the image 1 the region of interest is preferably determined based on the selected point in the image 1. For instance, a region of interest having a specified shape and specified dimensions may be defined around the selected point within the image 1 and the image may be processed only within the image area thus obtained. Alternatively or in addition, the outline or outer counter of the trailer may only be searched around the selected point.
Once the trailer or at least a portion of the trailer is detected, in the following step S5, different trailer functions can be provided. Such trailer functions are commonly known. Some of them have been described in the introductory part of the description. It shall be apparent to a person skilled in the art, that the present invention may be used in combination with any existing or future camera based trailer assistant functions, in particular implemented in a driver assistant system of a vehicle.
As illustrated in Fig. 1, trailer assistant functions may comprise, but are not limited to, a tracking of the trailer using template matching, an estimation of the angle between the trailer and the vehicle, an extraction of the height and width of the trailer and an estimation of the depth of the trailer.
For providing such trailer functions further input parameters may be provided to the system, e.g. camera calibration parameters .
Claims (7)
1. A method for a driver assistant system for detecting a trailer (2), comprising: - (SI) capturing at least one image (1) with at least one camera being mounted to a vehicle and having a rearward field of view; - (S2) displaying the at least one image (1) to a user on a touch-screen; - (S3) recognizing a user input (3) via the touch-screen, wherein the user input (3) comprises selecting a region (3) in the at least one image (1) via the touch-screen; - determining a region of interest in the at least one image (1) based on the selected region (3), wherein the region of interest has an offset to the selected region (3) ; - (S4) detecting at least a portion of the trailer (2) by means of image processing of the at least one image (1) based on the determined region of interest (5), wherein image processing comprises computing the height and width of the trailer.
2. The method according to one of the preceding claims, wherein - the user input (3) is reguested by means of an appropriate notification.
3. The method according to claim 2, wherein - the user input (3) is requested if a trailer function of the driver assistant system is activated.
4. The method according to claim 2 or 3, wherein - the user input (3) is requested if a trailer function of the driver assistant system is activated and if no trailer (2) is detected in the at least one image (1) by means of image processing not being based on a user input (3).
5. A computer program product with a computer readable storage medium having computer executable code stored thereon which, when executed by a processor, executes the method according to one of the preceding claims.
6. A device for a vehicle for detecting a trailer (2), in particular a driver assistant system, comprising: - at least one camera to be mounted to the vehicle with a rearward field of view, and - an electronic control unit to be mounted to the vehicle and to be connected with the at least one camera and with a touch-screen, wherein - the electronic control unit comprises a processor and a computer program product according to claim 5.
7. Vehicle comprising a device according to claim 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1616361.0A GB2554427B (en) | 2016-09-27 | 2016-09-27 | Method and device for detecting a trailer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1616361.0A GB2554427B (en) | 2016-09-27 | 2016-09-27 | Method and device for detecting a trailer |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB201616361D0 GB201616361D0 (en) | 2016-11-09 |
| GB2554427A GB2554427A (en) | 2018-04-04 |
| GB2554427B true GB2554427B (en) | 2019-10-23 |
Family
ID=57539908
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB1616361.0A Active GB2554427B (en) | 2016-09-27 | 2016-09-27 | Method and device for detecting a trailer |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2554427B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10984553B2 (en) | 2018-05-01 | 2021-04-20 | Continental Automotive Systems, Inc. | Real-time trailer coupler localization and tracking |
| US11198340B2 (en) * | 2018-05-01 | 2021-12-14 | Continental Automotive Systems, Inc. | Coupler and tow-bar detection for automated trailer hitching via cloud points |
| EP3802279A4 (en) * | 2018-06-01 | 2022-01-19 | Paccar Inc | Systems and methods for autonomously backing a vehicle to a trailer |
| BR112020024612A2 (en) * | 2018-06-01 | 2021-05-11 | Paccar Inc | systems and methods for autonomously recovering a vehicle to a dock |
| US11433812B2 (en) | 2018-10-29 | 2022-09-06 | Ford Global Technologies, Llc | Hitching maneuver |
| DE102018128078B3 (en) | 2018-11-09 | 2020-04-23 | Audi Ag | Method and system for supporting a coupling process of a motor vehicle to a trailer |
| US11987283B2 (en) | 2020-12-20 | 2024-05-21 | Continental Autonomous Mobility US, LLC | User assisted camera generic target method for automotive trailer functions |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090236825A1 (en) * | 2008-03-20 | 2009-09-24 | Toyota Motor Engineering & Manufacturing North America, Inc. | System for assisting the attachment of a trailer to a vehicle |
| WO2014174028A1 (en) * | 2013-04-26 | 2014-10-30 | Jaguar Land Rover Limited | Vehicle hitch assistance system |
| US20150002669A1 (en) * | 2013-06-27 | 2015-01-01 | Ford Global Technologies, Llc | Trailer identification |
| WO2015171168A1 (en) * | 2014-05-06 | 2015-11-12 | Robert Bosch Gmbh | Dynamic camera view to aid with trailer attachment |
| GB2535789A (en) * | 2015-02-27 | 2016-08-31 | Jaguar Land Rover Ltd | Trailer tracking apparatus and method |
| WO2016155919A1 (en) * | 2015-04-01 | 2016-10-06 | Robert Bosch Gmbh | Trailer coupling assistance system with vehicle video camera |
-
2016
- 2016-09-27 GB GB1616361.0A patent/GB2554427B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090236825A1 (en) * | 2008-03-20 | 2009-09-24 | Toyota Motor Engineering & Manufacturing North America, Inc. | System for assisting the attachment of a trailer to a vehicle |
| WO2014174028A1 (en) * | 2013-04-26 | 2014-10-30 | Jaguar Land Rover Limited | Vehicle hitch assistance system |
| US20150002669A1 (en) * | 2013-06-27 | 2015-01-01 | Ford Global Technologies, Llc | Trailer identification |
| WO2015171168A1 (en) * | 2014-05-06 | 2015-11-12 | Robert Bosch Gmbh | Dynamic camera view to aid with trailer attachment |
| GB2535789A (en) * | 2015-02-27 | 2016-08-31 | Jaguar Land Rover Ltd | Trailer tracking apparatus and method |
| WO2016155919A1 (en) * | 2015-04-01 | 2016-10-06 | Robert Bosch Gmbh | Trailer coupling assistance system with vehicle video camera |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2554427A (en) | 2018-04-04 |
| GB201616361D0 (en) | 2016-11-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| GB2554427B (en) | Method and device for detecting a trailer | |
| US11600011B2 (en) | Vehicular trailering assist system and method | |
| US11273868B2 (en) | Vehicular trailer assist system | |
| US20210107561A1 (en) | Vehicular driving assist system | |
| US20200380268A1 (en) | Trailering assist system for vehicle | |
| US11014561B2 (en) | Vehicle trailer hitch assist system | |
| US9731568B2 (en) | Guided tow hitch control system and method | |
| US10035457B2 (en) | Vehicle hitch assistance system | |
| EP3299191A1 (en) | Trailer hitch ball detection and location measurement using a rear view camera | |
| US20160375831A1 (en) | Hitching assist with pan/zoom and virtual top-view | |
| US11875575B2 (en) | Vehicular trailering assist system with trailer collision angle detection | |
| US7237790B2 (en) | System for hitching a trailer to a motor vehicle | |
| US8441536B2 (en) | Vehicle periphery displaying apparatus | |
| EP3140725B1 (en) | Dynamic camera view to aid with trailer attachment | |
| US20060250225A1 (en) | Vehicle turning assist system and method | |
| US11027667B2 (en) | Display method and apparatus | |
| US11358637B2 (en) | Method and apparatus for determining a trailer hitch articulation angle in a motor vehicle | |
| US11285768B2 (en) | Vehicle system and method for detecting trailer connection | |
| US20180162274A1 (en) | Vehicle side-rear warning device and method using the same | |
| CN108162867A (en) | A kind of lane recognition system and lane recognition method | |
| CN113661093A (en) | Driver assistance method and device | |
| WO2018037032A1 (en) | A vehicle camera system | |
| US20240157876A1 (en) | Vehicular trailering assist system with calibration based on monitored driving maneuvers | |
| EP4140814A1 (en) | Method for harmonizing images acquired from non overlapping camera views | |
| CN115657043A (en) | Parking space state identification method, device and equipment |